btSimpleDynamicsWorld.h

/*Bullet Continuous Collision Detection and Physics LibraryCopyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/This software is provided 'as-is', without any express or implied warranty.In no event will the authors be held liable for any damages arising from the use of this software.Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.*/#ifndef BT_SIMPLE_DYNAMICS_WORLD_H#define BT_SIMPLE_DYNAMICS_WORLD_H#include "btDynamicsWorld.h"class btDispatcher;
class btOverlappingPairCache;
class btConstraintSolver;
///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).00027class btSimpleDynamicsWorld : publicbtDynamicsWorld
{
protected:
btConstraintSolver* m_constraintSolver;
bool m_ownsConstraintSolver;
void predictUnconstraintMotion(btScalar timeStep);
void integrateTransforms(btScalar timeStep);
btVector3 m_gravity;
public:
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolverbtSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btSimpleDynamicsWorld();
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld insteadvirtualintstepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtualvoid setGravity(const btVector3& gravity);
virtual btVector3 getGravity () const;
virtualvoid addRigidBody(btRigidBody* body);
virtualvoid removeRigidBody(btRigidBody* body);
virtualvoid updateAabbs();
virtualvoidsynchronizeMotionStates();
virtualvoid setConstraintSolver(btConstraintSolver* solver);
virtualbtConstraintSolver* getConstraintSolver();
virtual btDynamicsWorldType getWorldType() const{
return BT_SIMPLE_DYNAMICS_WORLD;
}
virtualvoidclearForces();
};
#endif //BT_SIMPLE_DYNAMICS_WORLD_H